IAI RCP5 User manual

RCP5/RCP5CR/RCP5W Actuator
Slider Type/Rod Type
First Step Guide Seventh Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this
First Step Guide to ensure correct use.
This Instruction Manual is original.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (The option is excluded.)
No. Part Name Model Quantity Remarks
1 Actuator Main Body Refer to How to read the
model No. 1
Accessories
2 Motor • Encoder Cable(Note 1) 1
3 Home Position Marking
Sticke r Packaged in slider type.
4 Nut Packaged in rod type.
Refer to list below.
5 Caution and Warning Labels
Seal 1 set
Packaged in
Dustproof/Splash Proof
Type RCP5W-RA8C and
RA10C.
6 First Step Guide 1
7 Instruction Manual (DVD) 1
8 Safety Guide 1
Note 1 Please refer to the wiring layout for the enclosed motor･encoder cables.
(List of Included Nut Type)
Nut (M10×1.25) Nut (M14×1.5) Nut (M20×1.5) Nut (M22×1.5)
RA4C, RA4R
RA6C, RA6R 1
RA7C, RA7R 1
RA8C, RA8R 1
RA10C, RA10R 1
[Refer to of the instruction manual 6. External Dimensions for the dimensions of nuts.]
The square nut will be enclosed for RCP5W-RA6C and RA7C.
Square Nut (7×7 M4) Square Nut (8×8 M5)
RCP5W-RA6C 4
RCP5W-RA7C 4
2. How to Read the Model Plate
3. How to Read the Model No.
3.1 Slider Type
RCP5 –SA4C –WA –35P –5 –50 –P3 –P –B –**
Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model type.
3.2 Rod Type
RCP5 –RA4C –WA –35P –5 –60 –P3 –P –B –**
Precautions in Handling
1. Handling of the Packed Product
Take the greatest care in transporting the product, not to bump or drop it.
• An operator should never attempt to carry a heavy package on his own.
• When setting down the package temporarily, keep it horizontal.
• Do not step on the package.
• Do not place on the package a heavy object that may cause the box deformation or apply
stress on it.
2. Handling of the Unpacked Product
Do not transport the actuator by holding the cable or move it by pulling the cable.
• When the actuator is taken out from the package and handled, hold the base section.
• When the stainless sheet is attached, never hold the stainless sheet section.
• When transporting the actuator, be careful not to hit it against other objects. In particular,
pay attention to the side cover.
• Do not give any unnatural force to any of the sections in the actuator. In particular, pay
attention not to apply any force on the stainless steel sheet if the actuator is equipped with
the stainless steel sheet.
Environments for Installation, Storage and Preservation
1. Installation Environment
Please attempt to avoid installing the product to such places as listed below.
It is generally the environment where a worker can work without any protection gear.
Also, make sure to keep enough space necessary for maintenance work.
• Place where exposed to radiant heat from a huge heat source such as heat treatment
• Place where the ambient temperature goes out of the applicable range from 0 to 40°C
• Place where condensation would occur due to sudden temperature change
• Place where the relative humidity exceeds 85% RH
• Dustproof/splash proof type RCP5W possesses the protection structure against dust and
water equivalent to IP65.
• Place where exposed to the direct sunlight
• Place where corrosive gas or flammable gas exist
• Place where it contains a lot of dust, salt or iron (Outside of an ordinary assembly plant)
(Dustproof/splash proof type RCP5W-RA6C and RA7C possesses the protection
structure against dust equivalent to IP67.)
(Dustproof/splash proof type RCP5W-RA8C and RA10C possesses the protection
structure against dust equivalent to IP65.)
• Place where water, oil (includes oil mist and cutting fluid) or chemical is splashed
(Dustproof/splash proof type RCP5W-RA6C and RA7C possesses the protection
structure against water equivalent to IP67.)
(Dustproof/splash proof type RCP5W-RA8C and RA10C possesses the protection
structure against water equivalent to IP65.)
• Place where the product main body receives vibration or hit impact
• Place with an altitude of 2,000m or more
Make sure to have a treatment for blocking when using in the following conditions:
• Place where noise is generated by such facts as static electricity
• Place where exposed to the influence of strong electric or magnetic field
• Place where exposed to the influence of ultraviolet or radiant rays
2. Storage and Preservation Environment
• The storage and preservation environment should comply with the same standards as
those for the installation environment. In particular, when the machine is to be stored for a
long time, pay close attention to environmental conditions so that no dew condensation
forms.
• Unless specially specified, moisture absorbency protection is not included in the package
when the machine is delivered. In the case that the machine is to be stored and preserved
in an environment where dew condensation is anticipated, take the condensation
preventive measures from outside of the entire package, or directly after opening the
package.
• For storage and preservation temperature, the machine withstands temperatures up to
60°C for a short time, but in the case of the storage and preservation period of 1 month or
more, control the temperature to 50°C or less.
• The product should be settled in the horizontal orientation while in storage and
reservation. In the case it is stored in the packaged condition, follow the posture
instruction if any displayed on the package.
<Series name>
Standard type
RCP5
Dustproof/Splash proof type
RCP5W
<Type>
Motor straight type
RA4C, RA6C
RA7C, RA8C
RA10C
Motor reversing type
RA4R, RA6R, RA7R,
RA8R, RA10R
<Encoder type>
WA : Battery-less absolute
<Motor type>
35P : 35□ size 42P : 42□ size
42SP: 42□ size 56P : 56□ size
56SP: 56□ size 60P : 60□ size
86P : 86□ size
<Lead>
RA4C, RA4R
2.5/5/10/16
RA6C, RA6R (Note1)
3/6/12/20
RA7C, RA7R (Note1)
4/8/16/24
RA8C, RC8R
5/10/20
RA10C, RC10R
2.5/5/10
<Stroke>
[Refer to 1.2 Specifications of the Instruction Manual]
<Series name>
Standard type
RCP5
Cleanroom type
RCP5CR
<Type>
Motor straight type
SA4C
SA6C
SA7C
Motor reversing type
SA4R
SA6R
SA7R
<Encoder type>
WA : Battery-less absolute
<Motor type>
35P : 35□ size
42P : 42□ size
56P : 56□ size
<Lead>
SA4C, SA4R
2.5/5/10/16
SA6C, SA6R
3/6/12/20
SA7C, SA7R
4/8/16/24
<Stroke>
[Refer to 1.2 Specifications of the Instruction Manual]
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A hard copy of Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cove
r
of the Instruction Manual or on the First Ste
p
Guide.
MODEL RCP5-SA4C-WA-35P-5-50-P3-P-B
SERIAL No.100090266 MADE IN JAPAN
Model
Serial numbe
r
Identification for IAI use only (Note 1)
<Options>
B : Brake
NM : Reversed-home specification
CJT : Cable exit direction changed
(Top)
CJR : Cable exit direction changed
(Right)
CJL : Cable exit direction changed
(Left)
CJB : Cable exit direction changed
(Bottom)
CJO : Cable eject direction changed
(Outward)
ML : Motor left reversed(Standard)
MR : Motor right reversed
SS : Slider spacer(SA7R)
SR : Slider part roller type
VR : Air vacuum joint on other side
<Cable length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Length specification
R□□ : Robot cable
<Controller>
P3 : PCON-CA
MSEP
MSEL
Identification for IAI use only
(N
o
t
e
1
)
<Options>
B : Brake
NM : Reversed-home specification
FL : Flange bracket
FT : Foot bracket
FFA : Tip adapter (Flange)
NFA : Tip adapter (Internal thread)
KFA : Tip adapter (Keyway)
ML : Motor left reversed (Standard)
MR : Motor right reversed
CJT : Cable exit direction changed
(Top)
CJR : Cable exit direction changed
(Right)
CJL : Cable exit direction changed
(Left)
CJO : Cable exit direction changed
(Outward)
CJB : Cable exit direction changed
(Bottom)
AT : Cable exit direction (Top)
A3 : Cable exit direction (Right)
A1 : Cable exit direction (Left)
<Cable length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Length specification
R□□ : Robot cable
<Controller>
P3 : PCON-CA
MSEP
MSEL
P4 : PCON-CFA
*1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model type.
Note 1 There is no RCP5W-RA6C Lead 20 and RCP5W-RA7C Lead 24.
(Note) The motor types RCP5W-RA6C 42SP and RCP5W-RA7C 56SP are equipped with a brake in standard.
There is no option without brake.

Air Vacuum Joint Type
Air Tube Outer Diameter
• SA4/6 : φ6
• SA7 : φ8
Stainless steel sheet
Side cover
Front bracket Slider cover
Opposite Side
Right Side
Left Side
Slider
Base
Motor unit
Screw for motor unit attachment
Tapped hole for ground cable connection
Connector
Motor Side
Motor Unit
Screw for Motor Unit Attachment Rod-Tip Adapter
Front bracket
Rod
Base
Tapped Hole for Ground
Cable Connection Connector
Frame Cover
Right Side
Left Side
Opposite Side Motor Side
Names of the Parts
1. Slider Type
1.1 Motor Straight Type
1.1.1 SA4C, 6C and 7C
[1] Standard Type Motor Straight Type RCP5
Motor unit
Screw for motor unit attachment
Stainless steel sheet
Side cover
Front bracket Slider cover Slider
Base
Tapped hole for
ground cable connection Connector
Left Side
Right Side
Opposite Side Motor Side
[2] Cleanroom Type Motor Straight Type RCP5CR
1.2 Motor Reversing Type
1.2.1 SA4R, 6R and 7R
[1] Standard Type Motor Reversing Type RCP5
The direction of the motor is either left reversed: ML (shown in figure above), right reversed:
MR.There is no top reversed type.
Note) Reversing types are not applicable to CR specifications.
2. Rod Type
2.1 Standard Type Motor Straight Type RCP5
2.1.1 RA4C, 6C and 7C
2.1.2 RA8C
Grease Supply on the Ball Screw and Guide
Rod-Tip Adapter
Rod
Rear Cover
Right Side
Left Side
Opposite Side Motor Side
Frame Cover
Base
Connector
Motor Cover
Tapped Hole for Ground
Cable Connection
Front Bracket
2.1.3 RA10C
2.2 Standard Type Motor Reversing Type RCP5
2.2.1 RA4R, 6R and 7R
The direction of the motor is either left reversed: ML (shown in figure above, standard) or right
reversed: MR (option).
2.2.2 RA8R
Right Side
Left Side
Motor Unit
Connector
Base
Tapped Hole for Ground
Cable Connection
Grease Supply on the
Ball Screw and Guide
Reversing Bracket
Pulley Cover
Front Bracket
2.2.3 RA10R
Right Side
Left Side
Grease Supply on the Ball Screw
Grease Supply on the Guide
Pulley Cover
Tapped Hole for Ground
Cable Connection
Reversing Bracket
Motor Unit
Base
Connector
Front Bracket
2.3 Dustproof/Splash Proof Type Motor Straight Type RCP5W
2.3.1 RA6C and RA7C
Cap
Grease Nipple
Rod
Rod-Tip Adapter
Flame Rear Cover
Actuator Cable
Air joint
Scraper Front Bracket
Right Side
Left Side
2.3.2 RA8C
2.3.3 RA10C
For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).
Right Side
Left Side
Opposite Side Motor Side
Rod-Tip Adapter
Rod
Base
Rear Cover
Frame Cover
Connector
Motor Cover
Tapped Hole for Ground
Cable Connection
Grease Supply on the Ball Screw and Guide
Reversing Bracket
Front Bracket
Reversing bracket
Pulley bracket Pulley cover
Left Side
Right Side
Motor unit
Screw for motor unit attachment
Screw for Motor Unit Attachment
Reversing Bracket
Motor Unit Pulley Cover
Pulley Bracket
Right Side
Left Side

Attachment
Refer to the Instruction Manual (DVD) for the attachments of the actuator and loads.
[Precautions for Attachments]
No. Item Precautions
1 Installation • Installing the slider type in the horizontally oriented wall mount or ceiling
mount may cause the stainless steel sheet to be loosened or be off the
right position. Continued use of the actuator with this condition may
result in the breakage of the stainless steel sheet. Adjust the sheet
tension accordingly in the regular inspection.
(Refer to the maintenance section on the Instruction Manual for the
procedure of stainless steel sheet tension adjustment.)
• Avoid using the actuator with no brake in the vertical orientation.
2 Attachment Surface • The base has to have a structure with sufficient rigidity to prevent
oscillation.
• The side and the bottom surfaces of the base of the actuator are the
datum for the slider drive. If accuracy for its run is required, use these
surfaces as a datum of the installation.
Datum Surface
Datum Surface
• The actuator mounting surface and other surfaces that are used as a
datum should be flat enough with an accuracy of machining or
equivalent treatment, and the flatness of the mounting surface needs to
be 0.05mm/m or less.
• Secure the space where maintenance work can be performed.
3 Bolt to be used • For the bolts to be used, a high-tensile bolt complying with ISO-10.9 or
more is recommended.
• Use stainless steel screws for Dustproof/splash proof type RCP5W.
• If using the tapped holes, use screws with the thread length dimension
being less than the effective depth of the holes.
• In case the tapped hole is a through hole, be careful so the screw tip
does not exceed the surface of the tapped hole.
• For the actuator mounting, use a bolt with the dimension of its effective
mating length to the tapped hole is as stated below.
If tapped hole on steel → thread length same as nominal diameter
If tapped hole on aluminum → thread length 1.8 times longer than
nominal diameter
However, when utilizing the tapped hole actuator attach on,
RCP5-RA4C/4R is 6mm or less,
RCP5-RA8C/8R is 12mm or less,
RCP5-RA10C/10R is 15mm or less,
RCP5W-RA6C is 6mm or less,
RCP5W-RA7C is 7.5mm or less.
RCP5W-RA8C is 8.5mm or less,
RCP5W-RA10C is 10mm or less.
4 Tightening Torque • Please follow the specification values stated in the Instruction Manual
(DVD) for the tightening torque.
Failure to do so may cause an operation problem.
5 Load Moment and
Overhung length
• Please follow the specification values stated in the Instruction Manual
(DVD) for the load moment and the overhung length of the slider type.
Failure to do so may cause abnormal vibration or noise, and also may
remarkably shorten the product life.
6 Rod Tip Allowable
Static Load, Load
Offset Distance
• Follow the specific values described in the instruction manual (DVD) for
the rod tip dynamic allowable load and the load offset distance for the
rod type. Failure to do so may cause abnormal vibration or noise, and
also may remarkably shorten the product life.
7 Stainless steel sheet • Please do not hold the stainless steel sheet directly with hands. Please,
also, be careful not to make a dent on the stainless steel sheet.
Stainless sheet is easy to get dented because it is thin. Using it with a
dent on may cause a breakage.
• If there is dust or metal contamination attached on the stainless steel
sheet, please wipe it off the sheet surface. Operation with the stainless
sheet that has foreign matters on its surface may cause problems such
as sheet damage, waviness, etc. inside the slider.
• Please do not operate the unit in the ambient with dust or metal
contamination.
For the controller, only the dedicated controller manufactured by our company can be used.
For the connection between the actuator and controller, use the attached dedicated connection
cable.
[Prohibited Items in the Cable Processing]
• Do not pull or bend forcibly the cable so as not to give any extra load or tension to the
cable.
• Do not process the cable for extension or shortening by means of cutting out,
combination or connecting with another cable.
• Do not bend the cable in the area from the connector tip to 150mm on the both ends.
Standard cable : CB-CAN-MPA□□□, CB-CFA3-MPA□□□
Robot cable : CB-CAN-MPA□□□-RB, CB-CFA3-MPA□□□-RB
150mm 150mm
• Do not let the cable flex at a single
point.
• Do not let the cable bend, kink or twist.
• Do not pull the cable with a strong
force.
• Do not let the cable receive a turning force
at a single point.
• Do not pinch, drop a heavy object
onto or cut the cable.
• When fixing the cable, provide a moderate
slack and do not tension it too tight.
• Separate the I/O line,
communication line and power line
from each other.
Do not store in the same duct.
Follow the instructions below when using a
cable track.
• If there is an indication to the cable for the
space factor in a cable track, refer to the
wiring instruction given by the supplier
when storing the cable in the cable track.
• Avoid the cables to get twined or twisted
in the cable track, and also to have the
cables move freely and do not tie them
up. (Avoid tension being applied when the
cables are bent.)
Do not pile up cables. It may cause faster
abrasion of the sheaths or cable
breakage..
Note:
• When the cable is connected or disconnected, make sure to turn off the power to the
controller. When the cable is connected or disconnected with the controller power turned
ON, it might cause a malfunction of the actuator and result in a serious injury or damage
to the machinery.
• When the connector connection is not correct, it would be dangerous because of a
malfunction of the actuator. Make sure to confirm that the connector is connected
correctly.
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL [phone] FAX [phone]
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL [phone] FAX [phone]
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL [phone] FAX [phone]
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL [phone] FAX [phone]
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
TEL[phone] FAX [phone]
TEL [phone] FAX [phone]
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
Steel Strap
(Piano Wire)
Tie them up softly.
Do not use spiral tube in any
position where cables are bent
frequently.
Power Line
Duct
I/O Line
(Flat Cable, etc.)
Manual No.: ME3736-7B
Wiring